filtering< T > Class Template Reference

#include <filtering.h>

List of all members.

Public Member Functions
void	filter (const sensor_msgs::PointCloud2Ptr &msg)
	Callback function for subscriber.
	filtering ()
	Class constructor.
sensor_msgs::PointCloud2	voxel_filter (const sensor_msgs::PointCloud2Ptr &msg_in, double voxel_size)
	aplies a voxel grid on a sensor msg
	~filtering ()
	Class destructor.
Public Attributes
PointCloud< T >	convex_hull
	The convex hull for cloud extraction.
string	frame_id
	The frame_id to transform.
double	max_z
	Maximum value for Z pointcloud.
double	min_z
	Minimum value for Z pointcloud.
PointCloud< T >	pc_in
	Point cloud to filter.
PointCloud< T >	pc_out
	Point cloud filtered.
ros::Publisher *	pub_ptr
	Pointer to pointcloud publisher.
tf::TransformListener *	transform_listener_ptr
	Pointer to a transform listener.
double	voxel_size
	Voxel grid size.

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Detailed Description

template<class T>
class filtering< T >

A simple class to voxelize a pointcloud and cutt within a volume

Definition at line 61 of file filtering.h.

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Constructor & Destructor Documentation

template<class T>

filtering< T >::filtering

(

)

[inline]

Class constructor.

Definition at line 66 of file filtering.h.

template<class T>

filtering< T >::~filtering

(

)

[inline]

Class destructor.

Definition at line 71 of file filtering.h.

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Member Function Documentation

template<class T >

void filtering< T >::filter

(

const sensor_msgs::PointCloud2Ptr &

msg

)

[inline]

Callback function for subscriber.

Pass through a square voxel grid

Transform to atc/center/bumper

Cutting the point cloud

Publish the result

Definition at line 38 of file filtering.hpp.

template<class T >

sensor_msgs::PointCloud2 filtering< T >::voxel_filter	(	const sensor_msgs::PointCloud2Ptr &	msg_in,
		double	voxel_size
	)			[inline]

aplies a voxel grid on a sensor msg

Parameters:

[in]	msg_in
[in]	voxel_size

Returns:

sensor_msgs::PointCloud2

Definition at line 78 of file filtering.hpp.

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Member Data Documentation

template<class T>

PointCloud<T> filtering< T >::convex_hull

The convex hull for cloud extraction.

Definition at line 84 of file filtering.h.

template<class T>

string filtering< T >::frame_id

The frame_id to transform.

Definition at line 102 of file filtering.h.

template<class T>

double filtering< T >::max_z

Maximum value for Z pointcloud.

Definition at line 90 of file filtering.h.

template<class T>

double filtering< T >::min_z

Minimum value for Z pointcloud.

Definition at line 93 of file filtering.h.

template<class T>

PointCloud<T> filtering< T >::pc_in

Point cloud to filter.

Definition at line 73 of file filtering.h.

template<class T>

PointCloud<T> filtering< T >::pc_out

Point cloud filtered.

Definition at line 81 of file filtering.h.

template<class T>

ros::Publisher* filtering< T >::pub_ptr

Pointer to pointcloud publisher.

Definition at line 96 of file filtering.h.

template<class T>

tf::TransformListener* filtering< T >::transform_listener_ptr

Pointer to a transform listener.

Definition at line 99 of file filtering.h.

template<class T>

double filtering< T >::voxel_size

Voxel grid size.

Definition at line 87 of file filtering.h.

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The documentation for this class was generated from the following files:

• /home/laradmin/lar/perception/pointcloud_segmentation/include/pointcloud_segmentation/filtering.h
• /home/laradmin/lar/perception/pointcloud_segmentation/include/pointcloud_segmentation/filtering.hpp